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<div class="title">SpineBoard.h</div>  </div>
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<a href="../../d0/d6a/_spine_board_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#ifndef PROJECT_SPINEBOARD_H</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define PROJECT_SPINEBOARD_H</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d0/d99/c_types_8h.html">cTypes.h</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="../../d0/ddd/struct_spi_command.html">   10</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d0/ddd/struct_spi_command.html">SpiCommand</a> {</div><div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="../../d0/ddd/struct_spi_command.html#a1ad7c5a3522786056f16a6758916d08a">   11</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d0/ddd/struct_spi_command.html#a1ad7c5a3522786056f16a6758916d08a">q_des_abad</a>[4];</div><div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="../../d0/ddd/struct_spi_command.html#a39d8f62479fdc6fd8f1d45ac6e3fa801">   12</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d0/ddd/struct_spi_command.html#a39d8f62479fdc6fd8f1d45ac6e3fa801">q_des_hip</a>[4];</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="../../d0/ddd/struct_spi_command.html#a4bfca37c37e047fbfbc7565dd2ff7c21">   13</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d0/ddd/struct_spi_command.html#a4bfca37c37e047fbfbc7565dd2ff7c21">q_des_knee</a>[4];</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="../../d0/ddd/struct_spi_command.html#aa4c7007b0e88ea1a64044d1f82195a5e">   15</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d0/ddd/struct_spi_command.html#aa4c7007b0e88ea1a64044d1f82195a5e">qd_des_abad</a>[4];</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="../../d0/ddd/struct_spi_command.html#a15d419dc5e1d3ea164a6c87994745fb5">   16</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d0/ddd/struct_spi_command.html#a15d419dc5e1d3ea164a6c87994745fb5">qd_des_hip</a>[4];</div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="../../d0/ddd/struct_spi_command.html#a19da2d5bb1f0ea785ed9977e5a6f563b">   17</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d0/ddd/struct_spi_command.html#a19da2d5bb1f0ea785ed9977e5a6f563b">qd_des_knee</a>[4];</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="../../d0/ddd/struct_spi_command.html#a5d48cdb5f3f29c3414109af53db05817">   19</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d0/ddd/struct_spi_command.html#a5d48cdb5f3f29c3414109af53db05817">kp_abad</a>[4];</div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="../../d0/ddd/struct_spi_command.html#a17e6d0a97149a586d66f49e97778d8aa">   20</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d0/ddd/struct_spi_command.html#a17e6d0a97149a586d66f49e97778d8aa">kp_hip</a>[4];</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="../../d0/ddd/struct_spi_command.html#ab82f39377b32b65c3844454aff9eaaf5">   21</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d0/ddd/struct_spi_command.html#ab82f39377b32b65c3844454aff9eaaf5">kp_knee</a>[4];</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="../../d0/ddd/struct_spi_command.html#aa82f69e2d66509f39aa3a55cc2112747">   23</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d0/ddd/struct_spi_command.html#aa82f69e2d66509f39aa3a55cc2112747">kd_abad</a>[4];</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="../../d0/ddd/struct_spi_command.html#ac5037bdfd25b3c123dac542c221b873b">   24</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d0/ddd/struct_spi_command.html#ac5037bdfd25b3c123dac542c221b873b">kd_hip</a>[4];</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="../../d0/ddd/struct_spi_command.html#a874c022fdc0e4534e1f3ab0e754f554b">   25</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d0/ddd/struct_spi_command.html#a874c022fdc0e4534e1f3ab0e754f554b">kd_knee</a>[4];</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="../../d0/ddd/struct_spi_command.html#a0a8836e693a20a96700f43a7f2c00104">   27</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d0/ddd/struct_spi_command.html#a0a8836e693a20a96700f43a7f2c00104">tau_abad_ff</a>[4];</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="../../d0/ddd/struct_spi_command.html#a830f6dfc6db3c67b2984a71e19268d9e">   28</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d0/ddd/struct_spi_command.html#a830f6dfc6db3c67b2984a71e19268d9e">tau_hip_ff</a>[4];</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="../../d0/ddd/struct_spi_command.html#a1fdaa6a451f4e90245c96e5b04b406b2">   29</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d0/ddd/struct_spi_command.html#a1fdaa6a451f4e90245c96e5b04b406b2">tau_knee_ff</a>[4];</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="../../d0/ddd/struct_spi_command.html#a1d9f9c2ca45d5b7cb552b14473ca9fe5">   31</a></span>&#160;  int32_t <a class="code" href="../../d0/ddd/struct_spi_command.html#a1d9f9c2ca45d5b7cb552b14473ca9fe5">flags</a>[4];</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;};</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="../../d5/d09/struct_spi_data.html">   34</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d5/d09/struct_spi_data.html">SpiData</a> {</div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="../../d5/d09/struct_spi_data.html#afc88f10c94dc79b05e984aa7ed927d8b">   35</a></span>&#160;  <span class="keywordtype">float</span> q_abad[4];</div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="../../d5/d09/struct_spi_data.html#a55471fdb44f070c4e9c6ef4b128d0f9c">   36</a></span>&#160;  <span class="keywordtype">float</span> q_hip[4];</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="../../d5/d09/struct_spi_data.html#a61b173572d313d693cb37aa346cbd4b2">   37</a></span>&#160;  <span class="keywordtype">float</span> q_knee[4];</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="../../d5/d09/struct_spi_data.html#acabffbc789cc4b3dbe876dadde510498">   38</a></span>&#160;  <span class="keywordtype">float</span> qd_abad[4];</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="../../d5/d09/struct_spi_data.html#af6aa9e4ce4989d485f2170af59bf84cf">   39</a></span>&#160;  <span class="keywordtype">float</span> qd_hip[4];</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="../../d5/d09/struct_spi_data.html#a97d6ab668da0a2f52b11468508b715ef">   40</a></span>&#160;  <span class="keywordtype">float</span> qd_knee[4];</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="../../d5/d09/struct_spi_data.html#aaa8c6ba32727fa47a56a7dcf3436c7f4">   41</a></span>&#160;  int32_t <a class="code" href="../../d0/ddd/struct_spi_command.html#a1d9f9c2ca45d5b7cb552b14473ca9fe5">flags</a>[4];</div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="../../d5/d09/struct_spi_data.html#a5e0651ee7569e7d7d7e75d84f38a2dae">   42</a></span>&#160;  int32_t <a class="code" href="../../d5/d09/struct_spi_data.html#a5e0651ee7569e7d7d7e75d84f38a2dae">spi_driver_status</a>;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;};</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="../../d1/da3/class_spine_board.html">   45</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d1/da3/class_spine_board.html">SpineBoard</a> {</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="../../d1/da3/class_spine_board.html#a92bdd67bc90d76eec09fc6a6ccae44f6">   47</a></span>&#160;  <a class="code" href="../../d1/da3/class_spine_board.html#a92bdd67bc90d76eec09fc6a6ccae44f6">SpineBoard</a>() {}</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordtype">void</span> init(<span class="keywordtype">float</span> side_sign, <a class="code" href="../../d0/d99/c_types_8h.html#ae9b1af5c037e57a98884758875d3a7c4">s32</a> board);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordtype">void</span> run();</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordtype">void</span> resetData();</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordtype">void</span> resetCommand();</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="../../d1/da3/class_spine_board.html#aa14a53c2ee68bf08c9a0e81071f88d0e">   52</a></span>&#160;  <a class="code" href="../../d0/ddd/struct_spi_command.html">SpiCommand</a>* cmd = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="../../d1/da3/class_spine_board.html#ab9ad96d3ede3c640ca73af2d4c5208e7">   53</a></span>&#160;  <a class="code" href="../../d5/d09/struct_spi_data.html">SpiData</a>* data = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="../../d1/da3/class_spine_board.html#a518ec3c7ef4c26c79ebba314534a1a0a">   54</a></span>&#160;  <span class="keywordtype">float</span> torque_out[3];</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="../../d1/da3/class_spine_board.html#ae188794a198592b9634297f84049d6a4">   57</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d1/da3/class_spine_board.html#ae188794a198592b9634297f84049d6a4">side_sign</a>;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="../../d1/da3/class_spine_board.html#af332b4ab52b2e949ad2e064f5dd45799">   58</a></span>&#160;  <a class="code" href="../../d0/d99/c_types_8h.html#ae9b1af5c037e57a98884758875d3a7c4">s32</a> <a class="code" href="../../d1/da3/class_spine_board.html#af332b4ab52b2e949ad2e064f5dd45799">board_num</a>;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="../../d1/da3/class_spine_board.html#a06d7f8617cfd3933ce1a872d1f605e03">   59</a></span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="../../d1/d62/rt__spi_8cpp.html#ad84522629d4afa65f28f64f5450bf871">max_torque</a>[3] = {17.f, 17.f, 26.f};  <span class="comment">// TODO CHECK WITH BEN</span></div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="../../d1/da3/class_spine_board.html#a0f37263b15f6699925c78515c0d64c72">   60</a></span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="../../d1/d62/rt__spi_8cpp.html#a2f7481e79512587f08318cd8ef4895e7">wimp_torque</a>[3] = {6.f, 6.f, 6.f};    <span class="comment">// TODO CHECK WITH BEN</span></div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="../../d1/da3/class_spine_board.html#a116df91fb772917f059ce5f4eaadac7d">   61</a></span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="../../d1/d62/rt__spi_8cpp.html#a5897797ad1ef937e551a794fff823e94">disabled_torque</a>[3] = {0.f, 0.f, 0.f};</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="../../d1/da3/class_spine_board.html#a7ae71d4fe06bc82abbebd22510c5eda8">   62</a></span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> q_limit_p[3] = {1.5f, 5.0f, 0.f};</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="../../d1/da3/class_spine_board.html#a1fb7ef690c8bde95fe65fec71779aeb2">   63</a></span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> q_limit_n[3] = {-1.5f, -5.0f, 0.f};</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="../../d1/da3/class_spine_board.html#a314e446466b77233e527920d929c48d5">   64</a></span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> kp_softstop = 100.f;</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="../../d1/da3/class_spine_board.html#a65797658ac2213e885b950a27079fa2a">   65</a></span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> kd_softstop = 0.4f;</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="../../d1/da3/class_spine_board.html#a2bc349ed35c5fd90da18a136d81ea23a">   66</a></span>&#160;  <a class="code" href="../../d0/d99/c_types_8h.html#ae9b1af5c037e57a98884758875d3a7c4">s32</a> iter_counter = 0;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;};</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="preprocessor">#endif  // PROJECT_SPINEBOARD_H</span></div><div class="ttc" id="c_types_8h_html"><div class="ttname"><a href="../../d0/d99/c_types_8h.html">cTypes.h</a></div><div class="ttdoc">Common types that are only valid in C++. </div></div>
<div class="ttc" id="class_spine_board_html"><div class="ttname"><a href="../../d1/da3/class_spine_board.html">SpineBoard</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00045">SpineBoard.h:45</a></div></div>
<div class="ttc" id="struct_spi_command_html"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html">SpiCommand</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00010">SpineBoard.h:10</a></div></div>
<div class="ttc" id="struct_spi_command_html_a19da2d5bb1f0ea785ed9977e5a6f563b"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html#a19da2d5bb1f0ea785ed9977e5a6f563b">SpiCommand::qd_des_knee</a></div><div class="ttdeci">float qd_des_knee[4]</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00017">SpineBoard.h:17</a></div></div>
<div class="ttc" id="rt__spi_8cpp_html_ad84522629d4afa65f28f64f5450bf871"><div class="ttname"><a href="../../d1/d62/rt__spi_8cpp.html#ad84522629d4afa65f28f64f5450bf871">max_torque</a></div><div class="ttdeci">const float max_torque[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d62/rt__spi_8cpp_source.html#l00033">rt_spi.cpp:33</a></div></div>
<div class="ttc" id="struct_spi_command_html_a0a8836e693a20a96700f43a7f2c00104"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html#a0a8836e693a20a96700f43a7f2c00104">SpiCommand::tau_abad_ff</a></div><div class="ttdeci">float tau_abad_ff[4]</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00027">SpineBoard.h:27</a></div></div>
<div class="ttc" id="struct_spi_command_html_ac5037bdfd25b3c123dac542c221b873b"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html#ac5037bdfd25b3c123dac542c221b873b">SpiCommand::kd_hip</a></div><div class="ttdeci">float kd_hip[4]</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00024">SpineBoard.h:24</a></div></div>
<div class="ttc" id="struct_spi_data_html_a5e0651ee7569e7d7d7e75d84f38a2dae"><div class="ttname"><a href="../../d5/d09/struct_spi_data.html#a5e0651ee7569e7d7d7e75d84f38a2dae">SpiData::spi_driver_status</a></div><div class="ttdeci">int32_t spi_driver_status</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00042">SpineBoard.h:42</a></div></div>
<div class="ttc" id="struct_spi_command_html_a874c022fdc0e4534e1f3ab0e754f554b"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html#a874c022fdc0e4534e1f3ab0e754f554b">SpiCommand::kd_knee</a></div><div class="ttdeci">float kd_knee[4]</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00025">SpineBoard.h:25</a></div></div>
<div class="ttc" id="struct_spi_command_html_a4bfca37c37e047fbfbc7565dd2ff7c21"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html#a4bfca37c37e047fbfbc7565dd2ff7c21">SpiCommand::q_des_knee</a></div><div class="ttdeci">float q_des_knee[4]</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00013">SpineBoard.h:13</a></div></div>
<div class="ttc" id="struct_spi_command_html_aa82f69e2d66509f39aa3a55cc2112747"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html#aa82f69e2d66509f39aa3a55cc2112747">SpiCommand::kd_abad</a></div><div class="ttdeci">float kd_abad[4]</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00023">SpineBoard.h:23</a></div></div>
<div class="ttc" id="class_spine_board_html_af332b4ab52b2e949ad2e064f5dd45799"><div class="ttname"><a href="../../d1/da3/class_spine_board.html#af332b4ab52b2e949ad2e064f5dd45799">SpineBoard::board_num</a></div><div class="ttdeci">s32 board_num</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00058">SpineBoard.h:58</a></div></div>
<div class="ttc" id="rt__spi_8cpp_html_a5897797ad1ef937e551a794fff823e94"><div class="ttname"><a href="../../d1/d62/rt__spi_8cpp.html#a5897797ad1ef937e551a794fff823e94">disabled_torque</a></div><div class="ttdeci">const float disabled_torque[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d62/rt__spi_8cpp_source.html#l00035">rt_spi.cpp:35</a></div></div>
<div class="ttc" id="struct_spi_command_html_a1fdaa6a451f4e90245c96e5b04b406b2"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html#a1fdaa6a451f4e90245c96e5b04b406b2">SpiCommand::tau_knee_ff</a></div><div class="ttdeci">float tau_knee_ff[4]</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00029">SpineBoard.h:29</a></div></div>
<div class="ttc" id="struct_spi_command_html_a1ad7c5a3522786056f16a6758916d08a"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html#a1ad7c5a3522786056f16a6758916d08a">SpiCommand::q_des_abad</a></div><div class="ttdeci">float q_des_abad[4]</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00011">SpineBoard.h:11</a></div></div>
<div class="ttc" id="struct_spi_command_html_ab82f39377b32b65c3844454aff9eaaf5"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html#ab82f39377b32b65c3844454aff9eaaf5">SpiCommand::kp_knee</a></div><div class="ttdeci">float kp_knee[4]</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00021">SpineBoard.h:21</a></div></div>
<div class="ttc" id="struct_spi_command_html_a39d8f62479fdc6fd8f1d45ac6e3fa801"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html#a39d8f62479fdc6fd8f1d45ac6e3fa801">SpiCommand::q_des_hip</a></div><div class="ttdeci">float q_des_hip[4]</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00012">SpineBoard.h:12</a></div></div>
<div class="ttc" id="struct_spi_command_html_a15d419dc5e1d3ea164a6c87994745fb5"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html#a15d419dc5e1d3ea164a6c87994745fb5">SpiCommand::qd_des_hip</a></div><div class="ttdeci">float qd_des_hip[4]</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00016">SpineBoard.h:16</a></div></div>
<div class="ttc" id="struct_spi_command_html_a1d9f9c2ca45d5b7cb552b14473ca9fe5"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html#a1d9f9c2ca45d5b7cb552b14473ca9fe5">SpiCommand::flags</a></div><div class="ttdeci">int32_t flags[4]</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00031">SpineBoard.h:31</a></div></div>
<div class="ttc" id="struct_spi_command_html_a5d48cdb5f3f29c3414109af53db05817"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html#a5d48cdb5f3f29c3414109af53db05817">SpiCommand::kp_abad</a></div><div class="ttdeci">float kp_abad[4]</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00019">SpineBoard.h:19</a></div></div>
<div class="ttc" id="struct_spi_command_html_a17e6d0a97149a586d66f49e97778d8aa"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html#a17e6d0a97149a586d66f49e97778d8aa">SpiCommand::kp_hip</a></div><div class="ttdeci">float kp_hip[4]</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00020">SpineBoard.h:20</a></div></div>
<div class="ttc" id="struct_spi_command_html_a830f6dfc6db3c67b2984a71e19268d9e"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html#a830f6dfc6db3c67b2984a71e19268d9e">SpiCommand::tau_hip_ff</a></div><div class="ttdeci">float tau_hip_ff[4]</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00028">SpineBoard.h:28</a></div></div>
<div class="ttc" id="c_types_8h_html_ae9b1af5c037e57a98884758875d3a7c4"><div class="ttname"><a href="../../d0/d99/c_types_8h.html#ae9b1af5c037e57a98884758875d3a7c4">s32</a></div><div class="ttdeci">int32_t s32</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d99/c_types_8h_source.html#l00023">cTypes.h:23</a></div></div>
<div class="ttc" id="rt__spi_8cpp_html_a2f7481e79512587f08318cd8ef4895e7"><div class="ttname"><a href="../../d1/d62/rt__spi_8cpp.html#a2f7481e79512587f08318cd8ef4895e7">wimp_torque</a></div><div class="ttdeci">const float wimp_torque[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d62/rt__spi_8cpp_source.html#l00034">rt_spi.cpp:34</a></div></div>
<div class="ttc" id="class_spine_board_html_a92bdd67bc90d76eec09fc6a6ccae44f6"><div class="ttname"><a href="../../d1/da3/class_spine_board.html#a92bdd67bc90d76eec09fc6a6ccae44f6">SpineBoard::SpineBoard</a></div><div class="ttdeci">SpineBoard()</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00047">SpineBoard.h:47</a></div></div>
<div class="ttc" id="struct_spi_command_html_aa4c7007b0e88ea1a64044d1f82195a5e"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html#aa4c7007b0e88ea1a64044d1f82195a5e">SpiCommand::qd_des_abad</a></div><div class="ttdeci">float qd_des_abad[4]</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00015">SpineBoard.h:15</a></div></div>
<div class="ttc" id="struct_spi_data_html"><div class="ttname"><a href="../../d5/d09/struct_spi_data.html">SpiData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00034">SpineBoard.h:34</a></div></div>
<div class="ttc" id="class_spine_board_html_ae188794a198592b9634297f84049d6a4"><div class="ttname"><a href="../../d1/da3/class_spine_board.html#ae188794a198592b9634297f84049d6a4">SpineBoard::side_sign</a></div><div class="ttdeci">float side_sign</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00057">SpineBoard.h:57</a></div></div>
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